CN115162448B - Intelligent unmanned mining sump cleaning system - Google Patents
Intelligent unmanned mining sump cleaning system Download PDFInfo
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- CN115162448B CN115162448B CN202210801783.8A CN202210801783A CN115162448B CN 115162448 B CN115162448 B CN 115162448B CN 202210801783 A CN202210801783 A CN 202210801783A CN 115162448 B CN115162448 B CN 115162448B
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- 238000004140 cleaning Methods 0.000 title claims abstract description 55
- 238000005065 mining Methods 0.000 title claims abstract description 25
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 107
- 239000003245 coal Substances 0.000 claims abstract description 98
- 238000000926 separation method Methods 0.000 claims abstract description 82
- 239000007788 liquid Substances 0.000 claims abstract description 57
- 238000005086 pumping Methods 0.000 claims abstract description 51
- 238000004891 communication Methods 0.000 claims abstract description 49
- 239000000203 mixture Substances 0.000 claims abstract description 22
- 238000003756 stirring Methods 0.000 claims abstract description 9
- 238000001556 precipitation Methods 0.000 claims abstract description 5
- 230000002708 enhancing effect Effects 0.000 claims abstract description 4
- 239000003250 coal slurry Substances 0.000 claims description 4
- 238000004062 sedimentation Methods 0.000 claims description 3
- 239000011343 solid material Substances 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 2
- 238000010276 construction Methods 0.000 description 5
- 238000001514 detection method Methods 0.000 description 5
- 238000004092 self-diagnosis Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 239000000463 material Substances 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000013049 sediment Substances 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
- 238000005406 washing Methods 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F5/00—Dredgers or soil-shifting machines for special purposes
- E02F5/28—Dredgers or soil-shifting machines for special purposes for cleaning watercourses or other ways
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01D—SEPARATION
- B01D36/00—Filter circuits or combinations of filters with other separating devices
- B01D36/02—Combinations of filters of different kinds
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01D—SEPARATION
- B01D36/00—Filter circuits or combinations of filters with other separating devices
- B01D36/04—Combinations of filters with settling tanks
- B01D36/045—Combination of filters with centrifugal separation devices
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F7/00—Equipment for conveying or separating excavated material
- E02F7/02—Conveying equipment mounted on a dredger
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Cleaning In General (AREA)
Abstract
The invention provides an intelligent unmanned mining sump cleaning system, which comprises: the mud collecting robot is used for stirring a coal mud precipitation mixture in the water bin and enhancing the fluidity of a coal mud water mixture; the drainage robot conveys the coal slime water mixture stirred by the slime collecting robot to a sump cleaner at a sump opening; the bin cleaner is fixedly arranged at a water bin opening and is used for collecting a coal slime water mixture conveyed by the drainage robot and conveying the coal slime water mixture to the coal slime solid-liquid separation treatment system through a coal slime remote pumping pipeline; the control module is interacted with an intelligent central console on the well, and is connected with the mud collecting robot, the drainage robot, the bin cleaner and the coal mud solid-liquid separation treatment system through the communication module, so that unmanned automatic bin cleaning operation is realized. The intelligent mining water sump cleaning system is reduced in human consumption and efficiency and is automatic.
Description
Technical Field
The invention belongs to the technical field of coal mine dredging, and particularly relates to an intelligent unmanned mining sump cleaning system.
Background
Based on safety consideration, the automation, unmanned and intelligent research of the coal mine industry is gradually in deep, various works under the mine are expected to be remotely commanded on a working face in the industry, even automatic execution is realized, dredging work of a mine sump is no exception, problems in aspects of cost improvement, potential safety hazard, low efficiency and the like are faced, obstacles in aspects of frequent pipeline disassembly, complicated procedures, communication obstacle and the like are still to be solved, the automation degree is low, and a large amount of manual operation is still needed.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides an intelligent unmanned mining sump cleaning system for solving the technical problems.
The invention provides an intelligent unmanned mining sump cleaning system, which comprises:
the mud collecting robot is used for stirring a coal mud precipitation mixture in the water bin and enhancing the fluidity of a coal mud water mixture;
the drainage robot conveys the coal slime water mixture stirred by the slime collecting robot to a sump cleaner at a sump opening;
the bin cleaner is fixedly arranged at a water bin opening and is used for collecting a coal slime water mixture conveyed by the drainage robot and conveying the coal slime water mixture to the coal slime solid-liquid separation treatment system through a coal slime remote pumping pipeline;
the coal slime solid-liquid separation treatment system comprises: the device comprises a slime water solid-liquid separation coarse separation device, a slime water solid-liquid separation fine separation device, a feeding machine and a relay pumping device; the relay pumping equipment is used for providing power for the whole mining sump dredging system in the sump roadway; the feeding machine is arranged at the discharge ends of the coal slime water solid-liquid separation coarse separation device and the coal slime water solid-liquid separation fine separation device and is used for outputting solid materials outwards; the coal slime water solid-liquid separation coarse separation equipment comprises a two-stage vibration cyclone separation sieve type solid-liquid separator; the slime water solid-liquid separation and subdivision equipment comprises at least one of a centrifugal sedimentation type fine solid-liquid separator, a plate-frame filter press and a belt filter press;
the control module is interacted with an intelligent central console on the well, and is connected with the mud collecting robot, the drainage robot, the bin cleaner and the coal mud solid-liquid separation treatment system through the communication module, so that unmanned automatic bin cleaning operation is realized.
Further, the dredging machine can move among water bin openings of all water bin roadways, and is fixed at a preset position of the water bin openings when dredging work is started, one end of a coal slime remote pumping pipeline is communicated with a coal slime solid-liquid separation system, and the other end of the coal slime remote pumping pipeline is communicated to the dredging machine through a detachable rubber pipe; the length of the coal slime remote pumping pipeline meets the requirement that the coal slime remote pumping pipeline is connected to a cleaning machine of any water sump opening.
Further, each water sump roadway shares one coal slime remote pumping pipeline, or each water sump roadway is respectively fixed with one coal slime remote pumping pipeline.
Further, a walking driving device is arranged on the mud collecting robot and the drainage robot, and comprises one of a crawler belt, a tire, a wheel track and a friction screw of a mud environment;
wherein the track driven by the wheel rail is arranged at the bottom or the top of the water sump tunnel, and the running track of the mud collecting robot and the drainage robot is arranged at the bottom or the top of the water sump tunnel.
Further, the walking driving device further comprises one of an explosion-proof diesel engine, an explosion-proof battery combined active current powered motor and an air motor.
Further, the communication module comprises two modes of wired communication and wireless communication, and the system further comprises at least one wireless communication substation under the condition that the communication module adopts the wireless communication mode;
the position of the wireless communication substation is set according to the length of the water sump tunnel and the preset density, and the wireless communication substation is additionally arranged at the corner of the tunnel.
Further, a drainage robot is additionally arranged at the corner of the water sump roadway, wireless communication equipment is arranged on the drainage robot, the drainage robot is also used as a wireless communication substation, and the effective working range of the drainage robot is set.
Further, in the case that the communication module adopts a wired communication mode, the coal slime solid-liquid separation processing system further includes: the electric cabinet for separation is used for supplying power to the coal slime water solid-liquid separation coarse separation equipment, the coal slime water solid-liquid separation fine separation equipment and the feeding machine and performing wired control;
and the electric cabinet for pumping is used for supplying power to the relay pumping equipment and performing wired control.
The intelligent unmanned mining water sump cleaning system has the beneficial effects that the remote control dredging work is realized, mud collection and carrying work is finished through the robot, so that a sump cleaner does not need to be paved or a remote pumping pipeline, a power pipeline, a cleaning water pipeline and the like to be recycled in work, a coal mud solid-liquid separation treatment system at the rear end is improved, fine management is carried out on coal mud treatment through rough separation and fine separation steps, and the coal mud treatment efficiency is improved. In conclusion, the intelligent and automatic mining sump cleaning system is greatly improved due to the fact that people are reduced and efficiency is improved. In addition, the invention has reliable design principle, simple structure and very wide application prospect.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the description of the embodiments or the prior art will be briefly described below, and it will be obvious to those skilled in the art that other drawings can be obtained from these drawings without inventive effort.
FIG. 1 is a schematic workflow diagram of a cleaning system according to an embodiment of the present invention;
1. a mud collecting robot; 2. a drainage robot; 3. a warehouse cleaning machine; 4. a water sump roadway; 5. a control module of wireless communication mode; 6. a control module of a wired communication mode; 7. coarse separation equipment for solid-liquid separation of slime water; 8. a coal slurry solid-liquid separation and subdivision device; 9. a feeding machine; 10. a relay pumping device; 11. an electric control box for separation; 12. an electric cabinet for pumping.
Detailed Description
In order to make the technical solution of the present invention better understood by those skilled in the art, the technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
As shown in fig. 1, the present invention provides an intelligent unmanned mining sump cleaning system, comprising:
the mud collecting robot 1 is used for stirring a coal mud precipitation mixture in the water sump and enhancing the fluidity of a coal mud water mixture;
the drainage robot 2 conveys the coal slime water mixture stirred by the slime collecting robot to a sump cleaner at a sump opening;
the bin cleaner 3 is fixedly arranged at a water bin opening and is used for collecting a coal slime water mixture conveyed by the drainage robot and conveying the coal slime water mixture to the coal slime solid-liquid separation treatment system through a coal slime remote pumping pipeline;
the coal slime solid-liquid separation treatment system comprises: the coal slime water solid-liquid separation coarse separation device 7, the coal slime water solid-liquid separation fine separation device 8, the feeding machine 9 and the relay pumping device 10; the relay pumping equipment 10 is used for providing power for the whole mining sump dredging system in the sump roadway; the feeding machine 9 is arranged at the discharge ends of the coal slime water solid-liquid separation coarse separation device 7 and the coal slime water solid-liquid separation fine separation device 8, and the feeding machine 9 is used for outputting solid materials outwards; the slime water solid-liquid separation coarse separation device 7 comprises a two-stage vibration cyclone separation sieve type solid-liquid separator; the slime water solid-liquid separation and subdivision equipment 8 comprises at least one of a centrifugal sedimentation type fine solid-liquid separator, a plate-frame filter press and a belt filter press;
the control module is interacted with an intelligent central console on the well, and is connected with the mud collecting robot 1, the drainage robot 2, the cleaning machine 3 and the coal slime solid-liquid separation treatment system through the communication module, so that unmanned automatic cleaning operation is realized.
In the embodiment, the mud collecting robot 1 is used for stirring the coal mud precipitation mixture in the water sump tunnel 4, so that the mobility of the coal mud is enhanced, and the following mud collecting robot is convenient to carry in the water sump tunnel 4; the drainage robot 2 is used for conveying the coal-water mixed fluid with good fluidity in the water sump tunnel 4 to the front of the sump cleaner 3 at the water sump opening along the water sump tunnel 4.
In the embodiment, the intelligent operation control is realized through the control module, so that the modification and optimization of the technological parameters can be conveniently carried out according to the field requirements of construction, and the seamless integration with a mine informatization system can be realized; the control module is arranged at a proper position of the water sump opening based on the requirements of the operation site, and can also be arranged on a well or a central control room of a user.
The embodiment of the application provides a mining sump dredging system, along with the promotion of dredging work, the long-range pumping pipeline of coal slime and power line, washing water pipe etc. need constantly advance to extend, and pipeline still need withdraw after the dredging is accomplished, and the manual operation when pipeline extends and withdraws, has intensity of labour big, inefficiency, dangerous high, pipeline remain and silt clear away not thoroughly scheduling problem. The dredging machine is arranged at the appointed position of the water sump opening, no movement is needed in the dredging process, the dredging is actively carried out in the water sump, and the treated coal slime water mixture is conveyed to the dredging machine; the warehouse cleaning machine is remotely pumped to a place where a mining solid-liquid separation system such as a coal hatch or a rubber belt roadway is positioned through a whole-course airtight conveying pipeline.
Optionally, as an embodiment of the invention, the dredging machine can move between water bin openings of all water bin roadways and is fixed at a preset position of the water bin openings when dredging work starts, one end of a coal slime remote pumping pipeline is communicated with a coal slime solid-liquid separation system, and the other end of the coal slime remote pumping pipeline is communicated with the dredging machine through a detachable rubber pipe; the length of the coal slime remote pumping pipeline meets the requirement that the coal slime remote pumping pipeline is connected to a cleaning machine of any water sump opening.
For example, the water sump tunnels comprise a No. 1 tunnel, a No. 2 tunnel and a No. 3 tunnel, and a certain dredging sequence can be arranged among the three water sump tunnels, so that the dredging machine is required to move according to the dredging sequence, the remote control dredging machine can be used for moving, the manual auxiliary dredging machine can also be used for moving to the appointed positions of the water sump openings of the three tunnels, and in order to improve the unmanned degree, the remote control dredging machine is preferably used for moving; the dredging is firstly carried out on a No. 2 roadway, one end of a coal slime remote pumping pipeline is communicated with a coal slime solid-liquid separation system, the other end of the coal slime remote pumping pipeline is communicated with a dredging machine on the No. 2 roadway through a detachable rubber pipe, the dredging machine is converted into dredging on a No. 1 roadway after the dredging machine is completed, the dredging machine is moved to a designated position of the No. 1 roadway, and the lengths of the detachable rubber pipe and the coal slime remote pumping pipeline meet the requirement of extending to the dredging machine of the No. 1 roadway. The coal slime remote pumping pipeline of the embodiment further comprises a power pipeline, a cleaning water pipeline and other matched workpieces.
Alternatively, as an embodiment of the present invention, each water sump roadway 4 shares one of the remote pumping pipelines for coal slime, or each water sump roadway 4 is fixed with one of the remote pumping pipelines for coal slime.
In this embodiment, each water sump roadway 4 shares one of the remote pumping pipelines for coal slime, in which case the front half pipeline of the remote pumping pipeline for coal slime connected with the cleaning machine 3 is composed of a hose, the cleaning machine 3 drags the remote pumping pipeline for coal slime to move while transferring, and the rear half pipeline without influence during transferring of the cleaning machine 3 may be composed of a hard pipe; in this case, the remote pumping pipeline for the coal slime after the warehouse cleaning machine 3 is not required to be manually disassembled. Each water sump roadway 4 is respectively fixed with one coal slime remote pumping pipe, under the condition, the coal slime remote pumping pipe can be in any mode such as a hose, a hard pipe or a combination of the hose and the hard pipe, and a plurality of the coal slime remote pumping pipes can be finally summarized to form one coal slime remote pumping pipe which is connected to a coal slime solid-liquid separation system, and under the condition, the service life of the coal slime remote pumping pipe is prolonged.
Optionally, as an embodiment of the present invention, the mud collecting robot 1 and the drainage robot 2 are provided with a walking driving device, and the walking driving device comprises one of a crawler, a tire, a wheel track and a friction screw of a mud environment; wherein the track driven by the wheel rail is arranged at the bottom or the top of the water sump tunnel, and the running tracks of the mud collecting robot 1 and the drainage robot 2 are arranged at the bottom or the top of the water sump tunnel.
Optionally, as an embodiment of the present invention, the walking driving device further comprises one of an explosion-proof diesel engine, an explosion-proof battery combined active current powered motor, and an air motor.
Optionally, as an embodiment of the present invention, the communication module includes two modes of wired communication and wireless communication, and in the case that the communication module adopts a wireless communication mode, the system further includes at least one wireless communication substation; the position of the wireless communication substation is set according to the length of the water sump tunnel and the preset density, and the wireless communication substation is additionally arranged at the corner of the tunnel.
In this embodiment, in order to realize control of wireless signals, a wireless signal main module is disposed on an intelligent central console, and wireless signal sub-modules are additionally disposed on equipment such as a dredging robot 1, a drainage robot 2, a dredging machine 3 and the like, signals are sent between the wireless signal sub-modules and the wireless signal main module, and control of dredging in a water sump and uploading of relevant information of dredging work are completed. The position of the wireless communication substation is set at the top of the water sump roadway 4 according to the preset density, for example, a wireless communication substation is set every 3 meters, and the wireless communication substation is additionally arranged at the corner of the roadway, so that signal blind areas at the corner are avoided.
Optionally, as an embodiment of the invention, a drainage robot 2 is additionally arranged at the corner of the water sump roadway, and a wireless communication device is arranged on the drainage robot 2, which also serves as a wireless communication substation, and the effective working range of the drainage robot 2 is set.
In this embodiment, can be near the water sump tunnel corner position, through adding drainage robot 2, increase drainage robot 2 lay the density, restrict, shorten its effective working range simultaneously, drainage robot 2 doubles as the radio communication substation, need not extra cost and sets up the radio communication substation.
Optionally, as an embodiment of the present invention, in a case where the communication module adopts a wired communication manner, the coal slime solid-liquid separation processing system further includes: the separation electric cabinet 11 is used for supplying power to the coal slime water solid-liquid separation coarse separation equipment, the coal slime water solid-liquid separation fine separation equipment and the feeding machine and performing wired control; and the electric cabinet 12 for pumping is used for supplying power to the relay pumping equipment and performing wired control.
Because the position where the slime water solid-liquid separation system is placed is deployed according to the requirements of the user on mine construction and site, if a wireless signal receiving point is arranged on the slime water solid-liquid separation system, various metal components, pipelines and the like in a mine tunnel can interfere wireless signals and the like. Therefore, a wired communication mode is adopted between the slime water solid-liquid separation system and the intelligent central console.
In one implementation, the stirring module 1 and the transferring module 2 are a warehouse cleaning robot; the cleaning robot can be selectively arranged according to the requirements of a user in an explosion-proof diesel engine power driving mode, and the cleaning robot in the mode has strong cruising ability, and the walking driving mode comprises a plurality of modes such as a top rail (a single rail or a double rail), a bottom rail, a track tire, a friction screw for a swamp silt environment and the like; the crawler belt walking driving mode is optimized, so that continuous and efficient operation of water sump cleaning is ensured.
In one implementation, the control module 5 is provided with a path planning unit; the path planning unit is used for constructing a 3D operation space and path planning of the mud collecting robot and the drainage robot according to the water sump roadway profile scanning information or preset coal mine water sump roadway construction models or drawings.
In the embodiment, a quasi-structured 3D operation space of a warehouse cleaning robot is constructed through a preset drawing model of coal mine water warehouse and related traffic and transition roadway construction or actual profile scanning after the water warehouse and the roadway construction; in the actual warehouse cleaning operation process, the built-in position sensor of the warehouse cleaning robot detects the vertical and horizontal space distance of the inner wall of a specific roadway of the warehouse cleaning robot and the distance between two warehouse cleaning robots which are different in labor division in real time, reasonably and autonomously plans an operation route, and realizes active obstacle avoidance.
In one implementation, the control module 5 is provided with an operation state detection and fault self-diagnosis unit; the running state detection and fault self-diagnosis unit is used for: detecting the current running state information of the mud collecting robot and the drainage robot and counting the working efficiency of the mud collecting robot and the drainage robot. For example, the running state information includes a running distance, a running speed, a front-rear height difference between before stirring of the precipitated slime and after transferring of the slime, and the like; the working efficiency comprises the stirring efficiency of the mud collecting robot, the transportation speed of the drainage robot and the like.
The running state detection and fault self-diagnosis unit is also used for: and determining whether a fault request needs to be sent to a control module according to the working efficiency and the preset working efficiency of the mud collecting robot and the drainage robot. For example, if the transport speed of the drainage robot is lower than the preset transport speed, a request for "transport failure of the drainage robot" is sent to the control module.
The running state detection and fault self-diagnosis unit is also used for: determining the walking speed of the cleaning robot in the water sump tunnel and preset oil consumption, and determining whether oil and consumable materials are to be added according to the current position of the cleaning robot, wherein the preset oil consumption is the oil consumption for ensuring that the cleaning robot returns to a preset stop position from the current position. For example, the stirring efficiency of the mud collecting robot is 30-party coal mud sediment processed per hour, the preset oil consumption per hour is 10 liters, and after the work is completed, the residual oil quantity of the oil tank is timely detected and fed back to the central console; when the oil quantity is insufficient, the warehouse cleaning operation can be automatically stopped and returned to the stop position to wait for processing.
The running state detection and fault self-diagnosis unit is also used for: according to the comparison between the working efficiency of the mud collecting robot 1 and the drainage robot 2 and the efficacy of the warehouse cleaning machine 3 or the coal slurry solid-liquid separation system, the working efficiency gap is determined, and the number of the drainage robots 2 which need to be interrupted or added is determined according to the working efficiency gap.
In one implementation, the mud collection robot and the drainage robot are provided with built-in position sensors for monitoring the current position information of the robot and uploading the current position information to the control module 5.
In the embodiment, mining intrinsic safety type material level sensors are arranged in four directions of the cleaning robot, and the spatial distance between the mining intrinsic safety type material level sensors and the inner wall of a water sump roadway 4 is detected in real time, wherein the sensors on the left side and the right side assist the cleaning robot to finish autonomous path planning of obstacle avoidance in the operation advancing process, the safety distance between the cleaning robot and the elevation of the roadway 4 is ensured, the sensors on the front side and the rear side measure the relative distance between the front cleaning robot and the rear cleaning robot, and the robot is ensured to operate at the safe relative distance.
Although the present invention has been described in detail by way of preferred embodiments with reference to the accompanying drawings, the present invention is not limited thereto. Various equivalent modifications and substitutions may be made in the embodiments of the present invention by those skilled in the art without departing from the spirit and scope of the present invention, and it is intended that all such modifications and substitutions be within the scope of the present invention or any person skilled in the art to which the present invention pertains will readily occur to those skilled in the art within the field of the present invention. Therefore, the protection scope of the invention is subject to the protection scope of the claims.
Claims (7)
1. An intelligent unmanned mining sump cleaning system, which is characterized by comprising:
the mud collecting robot is used for stirring a coal mud precipitation mixture in the water bin and enhancing the fluidity of a coal mud water mixture;
the drainage robot conveys the coal slime water mixture stirred by the slime collecting robot to a sump cleaner at a sump opening;
the mud collecting robot and the drainage robot are provided with a walking driving device, and the walking driving device comprises one of a crawler belt, a tire and a friction screw in a mud environment;
the bin cleaner is fixedly arranged at a water bin opening and is used for collecting a coal slime water mixture conveyed by the drainage robot and conveying the coal slime water mixture to the coal slime solid-liquid separation treatment system through a coal slime remote pumping pipeline;
the coal slime solid-liquid separation treatment system comprises: the device comprises a slime water solid-liquid separation coarse separation device, a slime water solid-liquid separation fine separation device, a feeding machine and a relay pumping device; the relay pumping equipment provides power for the whole mining water sump cleaning system in the water sump roadway; the feeding machine is arranged at the discharge ends of the coal slime water solid-liquid separation coarse separation device and the coal slime water solid-liquid separation fine separation device and is used for outputting solid materials outwards; the coal slime water solid-liquid separation coarse separation equipment comprises a two-stage vibration cyclone separation sieve type solid-liquid separator; the slime water solid-liquid separation and subdivision equipment comprises at least one of a centrifugal sedimentation type fine solid-liquid separator, a plate-frame filter press and a belt filter press;
the control module is interacted with the intelligent central console on the well, and is connected with the mud collecting robot, the drainage robot, the bin cleaner and the coal mud solid-liquid separation treatment system through the communication module, so that unmanned automatic bin cleaning operation is realized; the mud collecting robot and the drainage robot are internally provided with position sensors which are used for monitoring the current position information of the robot and uploading the current position information to the control module.
2. The intelligent unmanned mining sump cleaning system according to claim 1, wherein the sump cleaner can move between the sump openings of the sump tunnels and is fixed at a preset position of the sump opening when dredging is started, one end of the slime remote pumping pipeline is communicated with the slime solid-liquid separation system, and the other end of the slime remote pumping pipeline is communicated with the sump cleaner through a detachable rubber pipe; the length of the coal slime remote pumping pipeline meets the requirement that the coal slime remote pumping pipeline is connected to a cleaning machine of any water sump opening.
3. The intelligent unmanned mining sump cleaning system of claim 1, wherein each sump tunnel shares one of the remote pumping lines for coal slurry, or each sump tunnel is individually secured with one of the remote pumping lines for coal slurry.
4. The intelligent unmanned mining sump cleaning system of claim 1, wherein the travel drive device further comprises one of an explosion-proof diesel engine, an explosion-proof battery pack, an active current powered motor, and a pneumatic motor.
5. The intelligent unmanned mining sump cleaning system according to claim 1, wherein the communication module comprises two modes of wired communication and wireless communication, and the system further comprises at least one wireless communication substation under the condition that the communication module adopts the wireless communication mode;
the position of the wireless communication substation is set according to the length of the water sump tunnel and the preset density, and the wireless communication substation is additionally arranged at the corner of the tunnel.
6. The intelligent unmanned mining sump cleaning system according to claim 5, wherein a drainage robot is additionally arranged at a corner of the sump roadway, wireless communication equipment is arranged on the drainage robot, the intelligent unmanned mining sump cleaning system also serves as a wireless communication substation, and an effective working range of the drainage robot is set.
7. The intelligent unmanned mining sump cleaning system according to claim 5, wherein, in the case that the communication module adopts a wired communication mode, the coal slime solid-liquid separation treatment system further comprises: the electric cabinet for separation is used for supplying power to the coal slime water solid-liquid separation coarse separation equipment, the coal slime water solid-liquid separation fine separation equipment and the feeding machine and performing wired control;
and the electric cabinet for pumping is used for supplying power to the relay pumping equipment and performing wired control.
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| CN202210801783.8A CN115162448B (en) | 2022-07-07 | 2022-07-07 | Intelligent unmanned mining sump cleaning system |
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| CN202210801783.8A CN115162448B (en) | 2022-07-07 | 2022-07-07 | Intelligent unmanned mining sump cleaning system |
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| CN212026399U (en) * | 2019-12-31 | 2020-11-27 | 安徽恒帆环保科技有限公司 | Storehouse cleaning machine for coal mine |
| AU2020103350A4 (en) * | 2020-11-10 | 2021-01-21 | China University Of Mining And Technology | An automatic inspection robot for coal mine belt conveyor |
| CN113117393A (en) * | 2021-04-13 | 2021-07-16 | 山东鲁班机械科技有限公司 | Clear storehouse of mining sump is transported and processing system |
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2022
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| CN2830518Y (en) * | 2005-04-22 | 2006-10-25 | 胥二迎 | Dibhole clearing machine |
| CN201810346U (en) * | 2010-10-09 | 2011-04-27 | 永城煤电控股集团有限公司 | Real-time automatic dredging device for coal-mine underground water sump |
| CN205269146U (en) * | 2015-12-31 | 2016-06-01 | 徐州天科机械制造有限公司 | Colliery is central water sump continuous clean -up equipment that does not cut off water in pit |
| CN212026399U (en) * | 2019-12-31 | 2020-11-27 | 安徽恒帆环保科技有限公司 | Storehouse cleaning machine for coal mine |
| AU2020103350A4 (en) * | 2020-11-10 | 2021-01-21 | China University Of Mining And Technology | An automatic inspection robot for coal mine belt conveyor |
| CN113117393A (en) * | 2021-04-13 | 2021-07-16 | 山东鲁班机械科技有限公司 | Clear storehouse of mining sump is transported and processing system |
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